Calibration device, method for implementing calibration, and camera for movable body and storage medium with calibration function

摘要

A calibration device capable of calculating an installation parameter of a camera without storing graphical features of road marking in advance or without requiring another technique. An acquiring unit acquires images captured by the camera before and after a vehicle moves, and an extracting unit extracts two feature points from each of the images captured before and after the vehicle moves. A calculating unit calculates a camera installation parameter on the basis of a positional relationship of coordinates of the two feature points in the image before the vehicle moves and coordinates of the two feature points after the vehicle moves that correspond to the feature points before the vehicle moves.

主权项

1. A calibration device comprising:
an acquirer that acquires an image captured by a camera installed on a movable body; an extractor that extracts a first point and a second point from the image, the first point and second point are on a motion plane of the movable body or on a plane parallel to the motion plane and a straight line connecting the first point and the second point being not parallel to a moving direction of the movable body; and a calculator that calculates the installation parameter of the camera on the basis of a positional relationship between a first coordinate of the first point in a first image captured at a first timing and a second coordinate of the second point in the first image, a positional relationship between a third coordinate of the first point in a second image captured at a second timing after the movable body moves in the moving direction after the first timing and a fourth coordinate of the second point in the second image, a positional relationship between the first coordinate and the third coordinate, and a positional relationship between the second coordinate and the fourth coordinate,wherein at least one of the acquirer, the extractor and the calculator is included in a processor.